Patent Application
20230022678
The application claims priority to Chinese Patent Application No. 201911279371.7 filed on Dec. 13, 2019 and titled with “METHOD AND SYSTEM FOR CONTROLLING CONTINUOUS LOW VOLTAGE RIDE-THROUGH AND HIGH VOLTAGE RIDE-THROUGH OF PERMANENT MAGNET DIRECT-DRIVEN WIND TURBINE”, which is incorporated herein by reference in its entirety.
The application relates to the field of wind power generation technologies, and in particular, to a method and system for controlling continuous low voltage ride-through and high voltage ride-through of a permanent magnet direct-driven wind turbine.
A permanent magnet direct-driven wind turbine adopts a variable-speed and constant-frequency wind power generation technology which uses a non-speed-increasing gearbox and an impeller to directly drive a multi-pole low-speed permanent magnet synchronous generator, and is connected to a power grid via a full-power converter in order to achieve complete decoupling of the wind turbine with the power grid. The coupling characteristics of the wind turbine are mainly depend on technical performance of the converter at its grid side.
When a voltage at a point of common coupling of a wind farm is decreased or increased due to a fault or disturbance in the power system, it is necessary for the wind turbine to perform low voltage ride-through or high voltage ride-through in order to keep the wind turbine to be connected with the power grid and run continuously. The capability of the permanent magnet direct-driven wind turbine to perform the low-voltage ride-through and high-voltage ride-through is mainly reflected in following two aspects: during the voltage ride-through, a voltage of a direct current (DC) bus is kept stable by a braking unit connected in parallel with the DC bus so as to keep an active power output stable; and during the voltage ride-through, the grid-side converter supports rapid recovery of a voltage of the power grid by rapidly outputting a reactive current.
In related arts, during the low voltage ride-through or high voltage ride-through of the wind turbine, only a transient reactive power support is provided according to a degree of increase or decrease of the voltage of the power grid and a reactive power provided before the ride-through. There is no disclosure in the related arts about a controlling method for the wind turbine to provide, in processes of continuous low voltage ride-through and high voltage ride-through, active power and reactive power supports when being transitioned from the low voltage ride-through to the high voltage ride-through.
Embodiments of the application provide a method and a system for controlling continuous low voltage ride-through and high voltage ride-through of a permanent magnet direct-driven wind turbine, which can effectively support grid voltages.
In a first aspect, the embodiments of the application provide a method for controlling continuous low voltage ride-through and high voltage ride-through of a permanent magnet direct-driven wind turbine. The method includes: monitoring a voltage at a point of common coupling of a wind farm; determining a transient time period during which the wind turbine is transitioned from a low voltage ride-through state to a high voltage ride-through state; controlling the wind turbine to provide, during the transient time period, a gradually increasing active current to the point of common coupling; and controlling the wind turbine to provide, during the transient time period, a reactive current to the point of common coupling according to an operation state of the wind turbine before the low voltage ride-through state.
In an embodiment of the application, the controlling the wind turbine to provide, during the transient time period, the gradually increasing active current to the point of common coupling includes: superimposing an active current increasing at a preset recovery rate on an active current provided by the wind turbine to the point of common coupling in the low voltage ride-through state.
In an embodiment of the application, the controlling the wind turbine to provide, during the transient time period, the reactive current to the point of common coupling according to the operation state of the wind turbine before the low voltage ride-through state includes: controlling the wind turbine to provide a zero reactive current to the point of common coupling under a condition that the wind turbine provides a zero reactive power to the point of common coupling before the low voltage ride-through; controlling the wind turbine to provide a gradually increasing capacitive reactive current to the point of common coupling under a condition that the wind turbine provides a capacitive reactive power to the point of common coupling before the low voltage ride-through; and controlling the wind turbine to provide an inductive reactive current to the point of common coupling under a condition that the wind turbine provides an inductive reactive power to the point of common coupling before the low voltage ride-through, wherein the provided inductive reactive current is the same as an inductive reactive current of the wind turbine before the low voltage ride-through.
In an embodiment of the application, the controlling the wind turbine to provide the gradually increasing capacitive reactive current to the point of common coupling includes: controlling an increase rate of the capacitive reactive current to be consistent with an increase rate of an output active power of the wind turbine; and controlling the wind turbine to provide the gradually increasing capacitive reactive current to the point of common coupling according to the increase rate of the capacitive reactive current.
In an embodiment of the application, the determining the transient time period during which the wind turbine is transitioned from the low voltage ride-through state to the high voltage ride-through state includes: determining that the transient time period begins if the monitored voltage at the point of common coupling is increased as compared with a voltage at the point of common coupling at beginning of the low voltage ride-through of the wind turbine and an increased amount is not less than a preset threshold; and determining that the transient time period ends if the monitored voltage at the point of common coupling is increased to a preset high voltage ride-through threshold.
In an embodiment of the application, the method further includes: controlling the wind turbine to enter the high voltage ride-through state upon completion of the transient time period, and to provide an inductive reactive power to the point of common coupling according to a degree of increase of the voltage at the point of common coupling and a reactive power of the wind turbine before the low voltage ride-through.
In a second aspect, the embodiments of the application provide a system for controlling continuous low voltage ride-through and high voltage ride-through of a permanent magnet direct-driven wind turbine. The system includes: a monitoring module configured to monitor a voltage at a point of common coupling of a wind farm; and a controller configured to determine a transient time period during which the wind turbine is transitioned from a low voltage ride-through state to a high voltage ride-through state; control the wind turbine to provide, during the transient time period, a gradually increasing active current to the point of common coupling; and control the wind turbine to provide, during the transient time period, a reactive current to the point of common coupling according to an operation state of the wind turbine before the low voltage ride-through.
In an embodiment of the application, the controller is specifically configured to superimpose an active current increasing at a preset recovery rate on an active current provided by the wind turbine to the point of common coupling in the low voltage ride-through state.
In an embodiment of the application, the controller is specifically configured to: control the wind turbine to provide a zero reactive current to the point of common coupling under a condition that the wind turbine provides a zero reactive power to the point of common coupling before the low voltage ride-through; control the wind turbine to provide a gradually increasing capacitive reactive current to the point of common coupling under a condition that the wind turbine provides a capacitive reactive power to the point of common coupling before the low voltage ride-through; and control the wind turbine to provide a step change to an inductive reactive current of the wind turbine before the low voltage ride-through to the point of common coupling under a condition that the wind turbine provides an inductive reactive power to the point of common coupling before the low voltage ride-through.
In an embodiment of the application, the controller is specifically configured to: control an increase rate of the capacitive reactive current to be consistent with an increase rate of an output active power of the wind turbine; and control the wind turbine to provide the gradually increasing capacitive reactive current to the point of common coupling according to the increase rate of the capacitive reactive current.
In an embodiment of the application, the controller is further configured to: determine that the transient time period begins if the monitored voltage at the point of common coupling is increased as compared with a voltage at the point of common coupling at beginning of the low voltage ride-through of the wind turbine and an increased amount is not less than a preset threshold; and determine that the transient time period ends if the monitored voltage at the point of common coupling is increased to a preset high voltage ride-through threshold.
In an embodiment of the application, the controller is further configured to: control the wind turbine to enter the high voltage ride-through state upon completion of the transient time period, and to provide an inductive reactive power to the point of common coupling according to a degree of increase of the voltage at the point of common coupling and a reactive power of the wind turbine before the low voltage ride-through.
In a third aspect, the embodiments of the application provide a computer-readable storage medium having computer program instructions, which implement, when being executed by a processor, the method according to the first aspect or any one of the embodiments of the application.
In the method and system for controlling continuous low voltage ride-through and high voltage ride-through of a permanent magnet direct driven wind turbine according to the embodiments of the present application, the wind turbine is controlled to provide a gradually increasing active current to the point of common coupling during the transient time period within which the wind turbine is transitioned from the low voltage ride-through to the high voltage ride-through, which can prevent an impact on the power grid caused by an instantaneous increase of the active power, and thus the voltage of the power grid can be effectively supported. Moreover, as an comparison, in a solution that uses an reactive current provided before the high voltage ride-through to provide reactive power supports to the power grid, since the reactive current provided before the high voltage ride-through is of a value during transition from the low voltage ride-through to the high voltage ride-through, the reactive current may not be an reactive current actually required by the power grid. Therefore, in the embodiments of the present application, the wind turbine is controlled to provide, during the transient time period, a reactive current to the point of common coupling according to an operation state of the wind turbine before the low voltage ride-through, so that a reactive current can be provided according to actual requirements of the power grid, which avoids that the voltage of the power grid cannot be recovered due to insufficient or excess reactive power for the high voltage ride-through, and therefore the voltage of the power grid can be effectively supported.
In order to illustrate the technical solutions of the embodiments of the present application more clearly, the following briefly introduces the accompanying drawings that need to be used in the embodiments of the present application. For those of ordinary skill in the art, without creative work, the Additional drawings can be obtained from these drawings.
The features and exemplary embodiments of various aspects of the present application will be described in detail below. In order to make the purpose, technical solutions and advantages of the present application more clear, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application, but not to limit the present application. It will be apparent to those skilled in the art that the present application may be practiced without some of these specific details. The following description of the embodiments is merely to provide a better understanding of the present application by illustrating examples of the present application.
In this document, relational terms such as “first” and “second”, etc. are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or sequence between these entities or operations. Moreover, the terms “comprise”, “include” or any other variation thereof are intended to encompass a non-exclusive inclusion such that a process, method, article or device that includes a list of elements includes not only those elements, but also includes elements which are not explicitly listed or other elements inherent to such a process, method, article or device. Without further limitation, an element defined by the phrase “comprises” does not preclude presence of additional elements in a process, method, article, or device which includes the element.
In related arts, in processes of continuous low voltage ride-through and high voltage ride-through of a wind turbine, the wind turbine generally provides transient reactive power supports according to a reactive power provided before the high voltage ride-through. However, in processes of continuous low voltage ride-through and high voltage ride-through, a reactive current provided before the high voltage ride-through is of a value during transition from the low voltage ride-through to high voltage ride-through, so the reactive current may not be an actually required reactive current for a power grid. In the process of the high voltage ride-through, if the wind turbine provides a reactive current based on such reactive current, it will lead to insufficient or excessive reactive power in the process of the high voltage ride-through, which is not conducive to recovery of voltage of the power grid.
The following first describes in detail a method for controlling continuous low voltage ride-through and high voltage ride-through of a permanent magnet direct driven wind turbine according to an embodiment of the present application.
Exemplarily, in the step S102, when the wind turbine is in the low voltage ride-through state, if the monitored voltage at the point of common coupling is increased as compared with a voltage at the point of common coupling at beginning of the low voltage ride-through of the wind turbine and an increased amount is not less than a preset threshold, it is determined that the transient time period begins, that is, the low voltage ride-through state ends. If the subsequently monitored voltage at the point of common coupling is increased to a preset high voltage ride-through threshold, it is determined that the transient time period ends.
The high voltage ride-through threshold can be set according to specific application scenarios and application requirements, for example, it may be set to 1.15 pu.
Specifically, when a change trend of the voltage at the point of common coupling is increasing and an increased amount of each of three phases of voltages is not less than the preset threshold, it is determined that the voltage of the power grid begins to be recovered, and the transient time period starts. Exemplarily, the preset threshold may be 0.3 pu. At this time, the wind turbine starts to exit the low voltage ride-through state, and a reactive current provided by the wind turbine is controlled to prevent excessive capacitive reactive current provided by the wind turbine from overlapping with the gradually increasing voltage of the power grid, thereby avoiding further increasing of the voltage of the power grid.
The method in the embodiment further include step S103: controlling the wind turbine to provide, during the transient time period, a gradually increasing active current to the point of common coupling. During the transient time period, the voltage at the point of common coupling changes from a value lower than a standard value to a value higher than the standard value, the voltage for the power grid approaches the standard value, and the wind turbine begins to gradually recover active power.
Exemplarily, in the step S103, an active current increasing at a preset recovery rate is superimposed on an active current provided by the wind turbine to the point of common coupling in the low voltage ride-through state.
For example, if an active current provided by the wind turbine to the point of common coupling upon completion of the low voltage ride-through state is I1, then at the tth second of the transient time period, the active current provided by the wind turbine to the point of common coupling is equal to I1+at, where a is the preset recovery rate.
In an example, a rated power of the permanent magnet direct driven wind turbine is Pn, and then the preset recovery rate of the active power may be 30%*Pn/s˜Pn/100 ms. For example, for a permanent magnet direct driven wind turbine with a rated power of 1.5 MW, the preset recovery rate of the active power may be 1.5 MW/s upon completion of the low voltage ride-through.
The method of in the embodiment may further include step S104: controlling the wind turbine to provide, during the transient time period, a reactive current to the point of common coupling according to an operation state of the wind turbine before the low voltage ride-through.
In the method for controlling continuous low voltage ride-through and high voltage ride-through of a permanent magnet direct driven wind turbine according to the embodiment of the present application, the wind turbine is controlled to provide a gradually increasing active current to the point of common coupling during the transient time period within which the wind turbine is transitioned from the low voltage ride-through to the high voltage ride-through, which can prevent an impact on the power grid caused by an instantaneous increase of the active power, and thus the voltage of the power grid can be effectively supported. Moreover, as an comparison, in a solution that uses a reactive current provided before the high voltage ride-through to provide reactive power supports to the power grid, since the reactive current provided before the high voltage ride-through is of a value during transition from the low voltage ride-through to the high voltage ride-through, the reactive current may not be an reactive current actually required by the power grid. Therefore, in the embodiment of the present application, the wind turbine is controlled to provide, during the transient time period, a reactive current to the point of common coupling according to an operation state of the wind turbine before the low voltage ride-through, so that a reactive current can be provided according to actual requirements of the power grid, which avoids that the voltage of the power grid cannot be recovered due to insufficient or excess reactive power for the high voltage ride-through, and therefore the voltage of the power grid can be effectively supported.
In an embodiment, the step S103 and step S104 are performed simultaneously.
Exemplarily, the step S104 includes the following three situations.
In the first situation, under a condition that the wind turbine provides a zero reactive power to the point of common coupling before the low voltage ride-through, the wind turbine is controlled to provide a zero reactive current to the point of common coupling.
In the second situation, under a condition that the wind turbine provides a capacitive reactive power to the point of common coupling before the low voltage ride-through, the wind turbine is controlled to provide a gradually increasing capacitive reactive current to the grid-connected point.
In an example, the control of the wind turbine to provide a gradually increasing capacitive reactive current to the point of common coupling in the second situation may specifically include: controlling an increase rate of the capacitive reactive current to be consistent with an increase rate of an output active power of the wind turbine, and controlling the wind turbine to provide the gradually increasing capacitive reactive current to the point of common coupling according to the increase rate of the capacitive reactive current.
Exemplarily, the increase rate of the active power may be the same as the above-mentioned preset recovery rate.
For example, the capacitive reactive current may have an initial value of Ip*tgØ at the beginning of the transient time period, and changes according to the recovery rate of the active power as described in the step S103, thereby keeping a power factor unchanged. The Ip denotes the active current provided by the wind turbine to the point of common coupling during the low voltage ride-through, and the angle Ø denotes a power factor angle before a fault of the low voltage ride-through.
In processes of continuous low voltage ride-through and high voltage ride-through in related arts, the recovery rate of the reactive power generally does not consider the recovery rate of the active power during transition from the low voltage ride-through to the high voltage ride-through (the voltage at the point of common coupling is at a rated voltage ranging from 0.9 pu to 1.1 pu). The wind turbine will enter, due to its own improper control rather than due to failure in the power grid, a secondary low voltage ride-through state or directly enter a high voltage ride-through, which may even result in failure of the high voltage ride-through caused by subsequent failure in the power grid. In the present example, by controlling, during the transient time period, the recovery rate of the reactive power to be consistent with the recovery rate of the active power and controlling the power factor angle to be consistent with that before failure of the low voltage ride-through, a coordinated steady state of the reactive and the active power before failure of the low voltage ride-through can be maintained during transition from the low voltage ride-through to the high voltage ride-through.
In the third situation, under a condition that the wind turbine provides an inductive reactive power to the point of common coupling before the low voltage ride-through, the wind turbine is controlled to provide a gradually increasing inductive reactive current to the grid-connected point, wherein the provided inductive reactive current is the same as an inductive reactive current of the wind turbine before the low voltage ride-through.
As shown in
For example, the wind turbine is controlled to enter the high voltage ride-through state, and to provide an inductive reactive current according to the degree of increase of the voltage in connection with the reactive power before the low voltage ride-through (that is, based on the reactive power before the low voltage ride-through) to support rapid recovery of voltage of the power grid.
For example, in the high voltage ride-through state, the reactive current provided by the wind turbine may be Iq=Ir0+Ir, where Ir0 denotes a positive-sequence reactive current before failure of the low voltage ride-through, and Ir denotes a reactive current calculated according to a change in voltage during failure of the high voltage ride-through.
where Un denotes a rated voltage, Upos denotes a positive sequence voltage component during failure of the high voltage ride-through, U0 denotes a voltage value before failure of the high voltage ride-through, In denotes a rated current; Ir0, which denotes a reactive current before failure of the low-voltage ride-through, may be an average of reactive currents before the failure; and the factor k may be 2.
For the above-mentioned first situation,
As shown in
Before the time t1, that is, before the low voltage ride-through, the wind turbine provides a zero reactive power. From the t1 to the time t2, the wind turbine provides a capacitive reactive current to the point of common coupling to support recovery of voltage of the power grid, and provides a decreasing active current to the point of common coupling to keep the power grid connected. From the time t2 to the time t3, the wind turbine provides a zero reactive current to the point of common coupling, which is consistent with that before the low voltage ride-through, thereby preventing the reactive power provided by the wind turbine from being superimposed on the high voltage state of the power grid at the time t3. From the time t2 to the time t3, the voltage at the point of common coupling approaches to a standard value, and the active power of the wind turbine begins to recover, resulting in a gradually increasing active current. From the time t3 to the time t4, the wind turbine provides an inductive reactive current to the point of common coupling to support recovery of voltage of the power grid, and the active power is recovered to approach that before the low voltage ride-through.
For the above-mentioned second situation,
As shown in
Before the time t1, that is, before the low voltage ride-through, the wind turbine provides a capacitive reactive power. From the t1 to the time t2, the wind turbine provides an increasing capacitive reactive current to the point of common coupling to support recovery of voltage of the power grid, and provides a decreasing active current to the point of common coupling to keep the power grid connected. From the time t2 to the time t3, the wind turbine provides a decreasing reactive current to the point of common coupling to prevent the reactive power provided by the wind turbine from being superimposed on the high voltage state of the power grid at the time t3. From the time t2 to the time t3, the voltage at the point of common coupling approaches to a standard value, and the active power of the wind turbine begins to recover, resulting in a gradually increasing active current and a slop of the increasing reactive power is consistent with that of the increasing active current. From the time t3 to the time t4, the wind turbine provides an inductive reactive current to the point of common coupling to support recovery of voltage of the power grid, and the active power is recovered to approach that before the low voltage ride-through.
For the above-mentioned third situation,
As shown in
Before the time t1, that is, before the low voltage ride-through, the wind turbine provides an inductive reactive power. From the t1 to the time t2, the wind turbine provides a capacitive reactive current to the point of common coupling to support recovery of voltage of the power grid, and provides a decreasing active current to the point of common coupling to keep the power grid connected. At time t2, there occurs a step change in the capacitive reactive current provided by the wind turbine to the inductive reactive power before the low voltage ride-through. From the time t2 to the time t3, the wind turbine provides an inductive reactive current to the point of common coupling to prevent the reactive power provided by the wind turbine from being superimposed on the high voltage state of the power grid at the time t3. From the time t2 to the time t3, the voltage at the point of common coupling approaches to a standard value, and the active power of the wind turbine begins to recover, resulting in a gradually increasing active current. From the time t3 to the time t4, the wind turbine provides an inductive reactive current to the point of common coupling to support recovery of voltage of the power grid, and the active power is recovered to approach that before the low voltage ride-through.
In the method for controlling continuous low voltage ride-through and high voltage ride-through of a permanent magnet direct driven wind turbine according to the embodiment of the present application, the wind turbine is controlled to exit the low voltage ride-through state in time before entering the high voltage ride-through state, so as to avoid incapability of withdrawing the capacitive reactive power provided during the low voltage ride-through in time, which would otherwise cause deterioration of the voltage of the power grid due to the capacitive reactive power still being provided while the power grid having a higher voltage. During the state transition from the low voltage ride-through to the high voltage ride-through, the recovery rate of reactive power is controlled to be matched with that of active power in order to avoid disturbance of the reactive power to the power grid upon completion of the low voltage ride-through if the wind turbine was still in the state at which it outputs the reactive power. During the high voltage ride-through, the wind turbine outputs a reactive current according to a degree of increase of the voltage in connection with the reactive power state before the low voltage ride-through state (that is, based on the reactive power before the low voltage ride-through) to support rapid recovery of voltage of the power grid.
The following describes a system for controlling continuous low voltage ride-through and high voltage ride-through of a permanent magnet direct driven wind turbine according to an embodiment of the present application.
In an example, the controller 252 may control the above-described power conversion system to implement the continuous low voltage ride-through and high voltage ride-through.
In an example, the controller 252 may be specifically configured to: superimpose an active current increasing at a preset recovery rate on an active current provided by the wind turbine to the point of common coupling in the low voltage ride-through state.
In an example, the controller 252 may be specifically configured to: control the wind turbine to provide a zero reactive current to the point of common coupling under a condition that the wind turbine provides a zero reactive power to the point of common coupling before the low voltage ride-through; control the wind turbine to provide a gradually increasing capacitive reactive current to the point of common coupling under a condition that the wind turbine provides a capacitive reactive power to the point of common coupling before the low voltage ride-through; and control the wind turbine to provide an inductive reactive current to the point of common coupling under a condition that the wind turbine provides an inductive reactive power to the point of common coupling before the low voltage ride-through, wherein the provided inductive reactive current is the same as an inductive reactive current of the wind turbine before the low voltage ride-through.
In an example, the controller 252 may be specifically configured to: control an increase rate of the capacitive reactive current to be consistent with an increase rate of an output active power of the wind turbine; and control the wind turbine to provide the gradually increasing capacitive reactive current to the point of common coupling according to the increase rate of the capacitive reactive current.
In an example, the controller 252 may further be configured to: determine that the transient time period begins if the monitored voltage at the point of common coupling is increased as compared with a voltage at the point of common coupling at beginning of the low voltage ride-through of the wind turbine and an increased amount is not less than a preset threshold; and determine that the transient time period ends if the monitored voltage at the point of common coupling is increased to a preset high voltage ride-through threshold.
In an example, the controller 252 may further be configured to control the wind turbine to enter the high voltage ride-through state upon completion of the transient time period, and to provide an inductive reactive power to the point of common coupling according to a degree of increase of the voltage at the point of common coupling and a reactive power of the wind turbine before the low voltage ride-through.
It should be understood that the present application is not limited to the specific configurations and processes described above and illustrated in the figures. For sake of brevity, detailed descriptions of known methods are omitted here. In the above-described embodiments, several specific steps are described and shown as examples. However, the method process of the present application is not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the sequence of steps after understanding the spirit of the present application.
The functional blocks shown in the above-described structural block diagrams may be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, it may be, for example, an electronic circuit, an application specific integrated circuit (ASIC), suitable firmware, a plug-in, a function card, or the like. When implemented in software, elements of the present application may be programs or code segments for performing the required tasks.
The embodiments of the present application further provide a computer-readable storage medium having computer program instructions stored thereon, and the computer program instructions, when executed by a processor, implement the method according to the first embodiment. The program or code segments may be stored in a machine-readable medium or transmitted over a transmission medium or communication link by a data signal carried in a carrier wave. A “machine-readable medium” may include any medium that can store or transmit information. Examples of the machine-readable medium include an electronic circuit, a semiconductor memory device, a ROM, a flash memory, an erasable ROM (EROM), a floppy disk, a CD-ROM, an optical disk, a hard disk, a fiber optic medium, a radio frequency (RF) link, and the like. The code segments may be downloaded via a computer network such as the Internet, an intranet, or the like. According to the embodiments of the present application, the computer-readable storage medium may be a non-transitory computer-readable storage medium.
It should also be noted that the exemplary embodiments mentioned in this application describe some methods or systems based on a series of steps or devices. However, the present application is not limited to the order of the above steps, that is, the steps may be performed in the order mentioned in the embodiments, or may be performed in a different order from that described in the embodiments, or several steps may be performed simultaneously.
The above descriptions are only specific implementations of the present application. Those skilled in the art can clearly understand that, for convenience and brevity of description, specific operations of the above-described systems, modules and units may refer to those in the foregoing method embodiments and will not be repeated here. It should be understood that the protection scope of the present application is not limited to the embodiments, and those skilled in the art can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present application, and these modifications or replacements should all fall within the protection scope of the present application.
| Number | Date | Country | Kind |
|---|---|---|---|
| 201911279371.7 | Dec 2019 | CN | national |
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/CN2020/094909 | 6/8/2020 | WO |
